{"id":"https://openalex.org/W1995604691","doi":"https://doi.org/10.1109/ecmr.2015.7324203","title":"Retrieval of arbitrary 3D objects from robot observations","display_name":"Retrieval of arbitrary 3D objects from robot observations","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W1995604691","doi":"https://doi.org/10.1109/ecmr.2015.7324203","mag":"1995604691"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr.2015.7324203","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2015.7324203","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050320094","display_name":"Nils Bore","orcid":"https://orcid.org/0000-0003-1189-6634"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Nils Bore","raw_affiliation_strings":["Centre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, Sweden","Centre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Centre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028082686","display_name":"Patric Jensfelt","orcid":"https://orcid.org/0000-0002-1170-7162"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Patric Jensfelt","raw_affiliation_strings":["Centre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, Sweden","Centre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Centre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068942914","display_name":"John Folkesson","orcid":"https://orcid.org/0000-0002-7796-1438"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"John Folkesson","raw_affiliation_strings":["Centre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, Sweden","Centre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Centre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, SE-100 44, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8060458302497864},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7879468202590942},{"id":"https://openalex.org/keywords/ranking","display_name":"Ranking (information retrieval)","score":0.7682586312294006},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6421110033988953},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6198897361755371},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6087437272071838},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6050891876220703},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5918469429016113},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5370603799819946},{"id":"https://openalex.org/keywords/data-set","display_name":"Data set","score":0.4539217948913574},{"id":"https://openalex.org/keywords/information-retrieval","display_name":"Information retrieval","score":0.4419027864933014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4147537052631378},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3881611227989197},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07258439064025879}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8060458302497864},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7879468202590942},{"id":"https://openalex.org/C189430467","wikidata":"https://www.wikidata.org/wiki/Q7293293","display_name":"Ranking (information retrieval)","level":2,"score":0.7682586312294006},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6421110033988953},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6198897361755371},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6087437272071838},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6050891876220703},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5918469429016113},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5370603799819946},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.4539217948913574},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.4419027864933014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4147537052631378},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3881611227989197},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07258439064025879},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr.2015.7324203","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr.2015.7324203","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W38125885","https://openalex.org/W194047500","https://openalex.org/W1607838481","https://openalex.org/W1881711072","https://openalex.org/W1970531977","https://openalex.org/W1976885541","https://openalex.org/W1983670955","https://openalex.org/W1989625560","https://openalex.org/W1992980275","https://openalex.org/W2023056405","https://openalex.org/W2033574012","https://openalex.org/W2041469568","https://openalex.org/W2045926516","https://openalex.org/W2057463094","https://openalex.org/W2067956279","https://openalex.org/W2068078373","https://openalex.org/W2070333800","https://openalex.org/W2077193177","https://openalex.org/W2082761562","https://openalex.org/W2120486209","https://openalex.org/W2128017662","https://openalex.org/W2131846894","https://openalex.org/W2134601920","https://openalex.org/W2135249503","https://openalex.org/W2139114878","https://openalex.org/W2141362318","https://openalex.org/W2148876197","https://openalex.org/W2157660645","https://openalex.org/W2158648028","https://openalex.org/W2160821342","https://openalex.org/W2164860858","https://openalex.org/W2171592532","https://openalex.org/W2183786633","https://openalex.org/W2435338979","https://openalex.org/W3005890292","https://openalex.org/W3150575387","https://openalex.org/W6601602748","https://openalex.org/W6607929386","https://openalex.org/W6682945610","https://openalex.org/W6718488237"],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W1997222214","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W3150465815","https://openalex.org/W2802581102","https://openalex.org/W4205786897"],"abstract_inverted_index":{"We":[0,164],"have":[1],"studied":[2],"the":[3,61,70,74,90,100,107,125,152,162],"problem":[4],"of":[5,7,27,43,55,63,115,151,189],"retrieval":[6],"arbitrary":[8],"object":[9],"instances":[10],"from":[11,141],"a":[12,48,64,86,173],"large":[13],"point":[14,36,67,91,101],"cloud":[15,37],"data":[16,44,169],"set.":[17],"The":[18,39,77],"context":[19],"is":[20,45,156],"autonomous":[21],"robots":[22],"operating":[23,175],"for":[24,133],"long":[25],"periods":[26],"time,":[28],"weeks":[29],"up":[30],"to":[31,72,109,123,145],"months":[32],"and":[33,158,186],"regularly":[34],"saving":[35],"data.":[38,76],"ever":[40],"growing":[41],"collection":[42],"stored":[46],"in":[47,60,85,149,179],"way":[49],"that":[50,99,106,119],"allows":[51],"ranking":[52],"candidate":[53],"examples":[54],"any":[56],"query":[57,144],"object,":[58],"given":[59],"form":[62],"single":[65],"view":[66],"cloud,":[68],"without":[69],"need":[71],"access":[73],"original":[75],"top":[78],"ranked":[79],"ones":[80],"can":[81],"then":[82],"be":[83,110],"compared":[84],"second":[87],"phase":[88],"using":[89],"clouds":[92,102],"themselves.":[93],"Our":[94],"method":[95,191],"does":[96],"not":[97],"assume":[98],"are":[103,112,121,192],"segmented":[104],"or":[105],"objects":[108],"queried":[111],"known":[113],"ahead":[114],"time.":[116],"This":[117,154],"means":[118],"we":[120],"able":[122],"represent":[124],"entire":[126],"environment":[127],"but":[128],"it":[129],"also":[130],"poses":[131],"problems":[132],"retrieval.":[134],"To":[135],"overcome":[136],"this":[137],"our":[138,166,180,190],"approach":[139],"learns":[140],"each":[142],"actual":[143],"improve":[146],"search":[147],"results":[148],"terms":[150],"ranking.":[153],"learning":[155],"automatic":[157],"based":[159],"only":[160],"on":[161,168],"queries.":[163],"demonstrate":[165],"system":[167],"collected":[170],"autonomously":[171],"by":[172],"robot":[174],"over":[176],"13":[177],"days":[178],"building.":[181],"Comparisons":[182],"with":[183],"other":[184],"techniques":[185],"several":[187],"variations":[188],"shown.":[193]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}